/*
This file is part of CanFestival, a library implementing CanOpen Stack.

Copyright (C): Jorge BERZOSA

See COPYING file for copyrights details.

This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.

This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
*/

/*
* can4linux driver
*/

#include <stdio.h>
#include <string.h>
#include <errno.h>
#include <fcntl.h>

#include "can4linux.h"
#include "can_driver.h"

//struct timeval init_time,current_time;

/*********functions which permit to communicate with the board****************/
UNS8 canReceive_driver(CAN_HANDLE fd0, Message* m)
{
    int res, i;
    canmsg_t canmsg;
    //long int time_period;
    canmsg.flags = 0;
    do
    {
        res = read(fd0, &canmsg, 1);
        if ((res < 0) && (errno == -EAGAIN))
        {
            res = 0;
        }
    } while (res == 0);
    if (res != 1)   // No new message
    {
        return 1;
    }
    if (canmsg.flags & MSG_EXT)
    {
        /* There is no mark for extended messages in CanFestival */;
    }
    m->cob_id = canmsg.id;
    m->len = canmsg.length;
    if (canmsg.flags & MSG_RTR)
    {
        m->rtr = 1;
    }
    else
    {
        m->rtr = 0;
        memcpy(m->data, canmsg.data, 8);
    }
    /*gettimeofday(&current_time,NULL);
    time_period=(current_time.tv_sec - init_time.tv_sec)* 1000000 + current_time.tv_usec - init_time.tv_usec;
    printf("%3ld.%3ld.%3ld - Receive ID: %lx ->",time_period/1000000,(time_period%1000000)/1000,time_period%1000,m->cob_id);
    printf("Receive ID: %lx ->",m->cob_id);
    for(i=0; i<canmsg.length;i++)printf("%x, ", m->data[i]);
    printf("\n");*/
    return 0;
}

/***************************************************************************/
UNS8 canSend_driver(CAN_HANDLE fd0, Message const* m)
{
    int res;
    canmsg_t canmsg;
    canmsg.flags = 0;
    canmsg.id = m->cob_id;
    canmsg.length = m->len;
    if (m->rtr)
    {
        canmsg.flags |= MSG_RTR;
    }
    else
    {
        memcpy(canmsg.data, m->data, 8);
    }
    /*printf("Send ID: %lx ->",canmsg.id);
    for(i=0; i<canmsg.length;i++)printf("%x, ", canmsg.data[i]);
    printf("\n");*/
    if (canmsg.id >= 0x800)
    {
        canmsg.flags |= MSG_EXT;
    }
    res = write(fd0, &canmsg, 1);
    if (res != 1)
    {
        return 1;
    }
    return 0;
}


/***************************************************************************/
int TranslateBaudRate(char* optarg)
{
    if (!strcmp(optarg, "1M"))
    {
        return (int)1000;
    }
    if (!strcmp(optarg, "500K"))
    {
        return (int)500;
    }
    if (!strcmp(optarg, "250K"))
    {
        return (int)250;
    }
    if (!strcmp(optarg, "125K"))
    {
        return (int)125;
    }
    if (!strcmp(optarg, "100K"))
    {
        return (int)100;
    }
    if (!strcmp(optarg, "50K"))
    {
        return (int)50;
    }
    if (!strcmp(optarg, "20K"))
    {
        return (int)20;
    }
    if (!strcmp(optarg, "10K"))
    {
        return (int)10;
    }
    if (!strcmp(optarg, "5K"))
    {
        return (int)5;
    }
    return 0;
}

UNS8 _canChangeBaudRate(CAN_HANDLE fd, int baud)
{
    Config_par_t  cfg;
    volatile Command_par_t cmd;
    cmd.cmd = CMD_STOP;
    ioctl(fd, COMMAND, &cmd);
    cfg.target = CONF_TIMING;
    cfg.val1  = baud;
    ioctl(fd, CONFIG, &cfg);
    cmd.cmd = CMD_START;
    ioctl(fd, COMMAND, &cmd);
    return 0;
}

UNS8 canChangeBaudRate_driver(CAN_HANDLE fd, char* baud)
{
    int temp = TranslateBaudRate(baud);
    if (temp == 0)
    {
        return 1;
    }
    _canChangeBaudRate(fd, temp);
    printf("Baudrate changed to=>%s\n", baud);
    return 0;
}

/***************************************************************************/
static const char lnx_can_dev_prefix[] = "/dev/can";

CAN_HANDLE canOpen_driver(s_BOARD* board)
{
    int name_len = strlen(board->busname);
    int prefix_len = strlen(lnx_can_dev_prefix);
    char dev_name[prefix_len + name_len + 1];
    int o_flags = 0;
    //int baud = TranslateBaudeRate(board->baudrate);
    int fd0;
    int res;
    /*o_flags = O_NONBLOCK;*/
    memcpy(dev_name, lnx_can_dev_prefix, prefix_len);
    memcpy(dev_name + prefix_len, board->busname, name_len);
    dev_name[prefix_len + name_len] = 0;
    fd0 = open(dev_name, O_RDWR | o_flags);
    if (fd0 == -1)
    {
        fprintf(stderr, "!!! %s is unknown. See can4linux.c\n", dev_name);
        goto error_ret;
    }
    res = TranslateBaudRate(board->baudrate);
    if (res == 0)
    {
        fprintf(stderr, "!!! %s baudrate not supported. See can4linux.c\n", board->baudrate);
        goto error_ret;
    }
    _canChangeBaudRate((CAN_HANDLE)fd0, res);
    printf("CAN device dev/can%s opened. Baudrate=>%s\n", board->busname, board->baudrate);
    return (CAN_HANDLE)fd0;
error_ret:
    return NULL;
}

/***************************************************************************/
int canClose_driver(CAN_HANDLE fd0)
{
    if ((int)fd0 != -1)
    {
        return close((int)fd0);
    }
    return -1;
}

int canfd_driver(CAN_HANDLE fd0)
{
    return ((int)fd0);
}


